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<div class="title">graph_handler.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_GRAPH_HANDLER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_GRAPH_HANDLER_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/vertex_estimates.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/edge_measurements.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/exceptions.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &quot;boost/graph/graph_traits.hpp&quot;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> GraphT&gt;</div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html">   82</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_graph_handler.html">GraphHandler</a></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;GraphHandler&lt;GraphT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const GraphHandler&lt;GraphT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;GraphT&gt; GraphPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const GraphT&gt; GraphConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;GraphT&gt;::vertex_descriptor Vertex;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;GraphT&gt;::edge_descriptor Edge;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#ab3b2ae3e354a594cfcb2c1e75b11f939">   94</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#ab3b2ae3e354a594cfcb2c1e75b11f939">GraphHandler</a> () : graph_impl_ (new GraphT ())</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6">init</a> ())</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            <span class="keywordflow">throw</span> <a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a> (<span class="stringliteral">&quot;Graph Initialization Failed&quot;</span>, __FILE__, <span class="stringliteral">&quot;pcl::registration::GraphHandler::GraphHandler ()&quot;</span>, __LINE__);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a978b6d939b4e857b9778a8ee655d8739">  101</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a978b6d939b4e857b9778a8ee655d8739">~GraphHandler</a> ()</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4">deinit</a> ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#af3c9ba25942f235ab9f374cbd09270cf">  108</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#af3c9ba25942f235ab9f374cbd09270cf">clear</a> ()</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4">deinit</a> ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          graph_impl_.reset (<span class="keyword">new</span> GraphT ());</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6">init</a> ())</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">throw</span> <a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a> (<span class="stringliteral">&quot;Graph Initialization Failed&quot;</span>, __FILE__, <span class="stringliteral">&quot;pcl::registration::GraphHandler::clear ()&quot;</span>, __LINE__);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">inline</span> GraphConstPtr</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a1ee6b45fee6568efd74864837c37f7d8">  118</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a1ee6b45fee6568efd74864837c37f7d8">getGraph</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="keywordflow">return</span> graph_impl_;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">inline</span> GraphPtr</div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a637e0f79a7c93ac05223995e327c9984">  125</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a637e0f79a7c93ac05223995e327c9984">getGraph</a> ()</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keywordflow">return</span> graph_impl_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">class</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> Vertex</div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a3763c879113bc92b4b36de28fb0bf646">  136</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a3763c879113bc92b4b36de28fb0bf646">addPointCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr&amp; cloud, <span class="keyword">const</span> Eigen::Matrix4f&amp; pose)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordflow">return</span> add_vertex (<a class="code" href="structpcl_1_1registration_1_1_pose_estimate.html">PoseEstimate&lt;PointT&gt;</a> (cloud, pose), *graph_impl_);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">class</span> EstimateT&gt; <span class="keyword">inline</span> Vertex</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a05619712d71306066ac009a5ba56fa0b">  146</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a05619712d71306066ac009a5ba56fa0b">addGenericVertex</a> (<span class="keyword">const</span> EstimateT&amp; estimate)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordflow">return</span> add_vertex (estimate, *graph_impl_);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">class</span> InformationT&gt; <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_edge.html">Edge</a></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#abce0aa4ae0403c9bcb17332c00fec890">  159</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#abce0aa4ae0403c9bcb17332c00fec890">addPoseConstraint</a> ( <span class="keyword">const</span> Vertex&amp; v_start, <span class="keyword">const</span> Vertex&amp; v_end,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                            <span class="keyword">const</span> Eigen::Matrix4f&amp; relative_transformation,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                            <span class="keyword">const</span> InformationT&amp; information_matrix)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="keywordflow">return</span> add_edge ( <a class="code" href="structpcl_1_1registration_1_1_pose_measurement.html">PoseMeasurement&lt;Vertex, InformationT&gt;</a> (v_start, v_end, relative_transformation, information_matrix),</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                            *graph_impl_);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">class</span> MeasurementT&gt; <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_edge.html">Edge</a></div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#acee57bf0baf26399ebced7c6c0838ae8">  172</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#acee57bf0baf26399ebced7c6c0838ae8">addGenericConstraint</a> (<span class="keyword">const</span> MeasurementT&amp; measurement)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keywordflow">return</span> add_edge (measurement, *graph_impl_);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a64e9cc61cac073e473ed9042ab212d1b">  181</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a64e9cc61cac073e473ed9042ab212d1b">removeVertex</a> (<span class="keyword">const</span> Vertex&amp; v)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          remove_vertex (v.v_, *graph_impl_);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#ae96f335ff5fc1e9bfea3ffd7d869fe19">  190</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#ae96f335ff5fc1e9bfea3ffd7d869fe19">removeConstraint</a> (<span class="keyword">const</span> Edge&amp; e)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          remove_edge(e.e_, *graph_impl_);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6">  198</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6">init</a> ()</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4">  205</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4">deinit</a> ()</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        GraphPtr graph_impl_;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    };</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;}</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_GRAPH_HANDLER_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_edge_html"><div class="ttname"><a href="classpcl_1_1_edge.html">pcl::Edge</a></div><div class="ttdef"><b>Definition:</b> edge.h:49</div></div>
<div class="ttc" id="aclasspcl_1_1_init_failed_exception_html"><div class="ttname"><a href="classpcl_1_1_init_failed_exception.html">pcl::InitFailedException</a></div><div class="ttdoc">An exception thrown when init can not be performed should be used in all the PCLBase class inheritant...</div><div class="ttdef"><b>Definition:</b> exceptions.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html">pcl::registration::GraphHandler</a></div><div class="ttdoc">GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...</div><div class="ttdef"><b>Definition:</b> graph_handler.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a05619712d71306066ac009a5ba56fa0b"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a05619712d71306066ac009a5ba56fa0b">pcl::registration::GraphHandler::addGenericVertex</a></div><div class="ttdeci">Vertex addGenericVertex(const EstimateT &amp;estimate)</div><div class="ttdoc">Add a new generic vertex created according to the given estimate</div><div class="ttdef"><b>Definition:</b> graph_handler.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a1ee6b45fee6568efd74864837c37f7d8"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a1ee6b45fee6568efd74864837c37f7d8">pcl::registration::GraphHandler::getGraph</a></div><div class="ttdeci">GraphConstPtr getGraph() const</div><div class="ttdoc">Get a pointer to the BGL graph</div><div class="ttdef"><b>Definition:</b> graph_handler.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a24b7e511e93c1be0b9046c4286842ea6"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a24b7e511e93c1be0b9046c4286842ea6">pcl::registration::GraphHandler::init</a></div><div class="ttdeci">bool init()</div><div class="ttdoc">This method is called right after the creation of graph_impl_</div><div class="ttdef"><b>Definition:</b> graph_handler.h:198</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a28eb2f86777f9f505b8711b584547cb4"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a28eb2f86777f9f505b8711b584547cb4">pcl::registration::GraphHandler::deinit</a></div><div class="ttdeci">bool deinit()</div><div class="ttdoc">This method is called when graph_impl_ is going to be destroyed</div><div class="ttdef"><b>Definition:</b> graph_handler.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a3763c879113bc92b4b36de28fb0bf646"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a3763c879113bc92b4b36de28fb0bf646">pcl::registration::GraphHandler::addPointCloud</a></div><div class="ttdeci">Vertex addPointCloud(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud, const Eigen::Matrix4f &amp;pose)</div><div class="ttdoc">Add a new point cloud to the graph and return the new vertex</div><div class="ttdef"><b>Definition:</b> graph_handler.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a637e0f79a7c93ac05223995e327c9984"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a637e0f79a7c93ac05223995e327c9984">pcl::registration::GraphHandler::getGraph</a></div><div class="ttdeci">GraphPtr getGraph()</div><div class="ttdoc">Get a pointer to the BGL graph</div><div class="ttdef"><b>Definition:</b> graph_handler.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a64e9cc61cac073e473ed9042ab212d1b"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a64e9cc61cac073e473ed9042ab212d1b">pcl::registration::GraphHandler::removeVertex</a></div><div class="ttdeci">void removeVertex(const Vertex &amp;v)</div><div class="ttdoc">Remove a vertex from the graph</div><div class="ttdef"><b>Definition:</b> graph_handler.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_a978b6d939b4e857b9778a8ee655d8739"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#a978b6d939b4e857b9778a8ee655d8739">pcl::registration::GraphHandler::~GraphHandler</a></div><div class="ttdeci">~GraphHandler()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> graph_handler.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_ab3b2ae3e354a594cfcb2c1e75b11f939"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#ab3b2ae3e354a594cfcb2c1e75b11f939">pcl::registration::GraphHandler::GraphHandler</a></div><div class="ttdeci">GraphHandler()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> graph_handler.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_abce0aa4ae0403c9bcb17332c00fec890"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#abce0aa4ae0403c9bcb17332c00fec890">pcl::registration::GraphHandler::addPoseConstraint</a></div><div class="ttdeci">Edge addPoseConstraint(const Vertex &amp;v_start, const Vertex &amp;v_end, const Eigen::Matrix4f &amp;relative_transformation, const InformationT &amp;information_matrix)</div><div class="ttdoc">Add a new constraint between two poses</div><div class="ttdef"><b>Definition:</b> graph_handler.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_acee57bf0baf26399ebced7c6c0838ae8"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#acee57bf0baf26399ebced7c6c0838ae8">pcl::registration::GraphHandler::addGenericConstraint</a></div><div class="ttdeci">Edge addGenericConstraint(const MeasurementT &amp;measurement)</div><div class="ttdoc">Add a generic constraint created according to the given measurement</div><div class="ttdef"><b>Definition:</b> graph_handler.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_ae96f335ff5fc1e9bfea3ffd7d869fe19"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#ae96f335ff5fc1e9bfea3ffd7d869fe19">pcl::registration::GraphHandler::removeConstraint</a></div><div class="ttdeci">void removeConstraint(const Edge &amp;e)</div><div class="ttdoc">Remove a constraint from the graph</div><div class="ttdef"><b>Definition:</b> graph_handler.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_graph_handler_html_af3c9ba25942f235ab9f374cbd09270cf"><div class="ttname"><a href="classpcl_1_1registration_1_1_graph_handler.html#af3c9ba25942f235ab9f374cbd09270cf">pcl::registration::GraphHandler::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Clear the graph</div><div class="ttdef"><b>Definition:</b> graph_handler.h:108</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_pose_estimate_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_pose_estimate.html">pcl::registration::PoseEstimate</a></div><div class="ttdoc">PoseEstimate struct</div><div class="ttdef"><b>Definition:</b> vertex_estimates.h:63</div></div>
<div class="ttc" id="astructpcl_1_1registration_1_1_pose_measurement_html"><div class="ttname"><a href="structpcl_1_1registration_1_1_pose_measurement.html">pcl::registration::PoseMeasurement</a></div><div class="ttdoc">PoseMeasurement struct</div><div class="ttdef"><b>Definition:</b> edge_measurements.h:61</div></div>
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